fawkes::HomCoord Class Reference

Base class for homogeneous primitives (vector and point). More...

#include <geometry/hom_coord.h>

Inheritance diagram for fawkes::HomCoord:

List of all members.

Public Member Functions
	HomCoord (const HomCoord &c)
	Copy constructor.
virtual	~HomCoord ()
	Destructor.
virtual float	x () const
	RO-getter for x.
virtual float &	x ()
	RW-getter for x.
virtual HomCoord &	x (float x)
	Setter function for x.
virtual float	y () const
	RO-getter for y.
virtual float &	y ()
	RW-getter for y.
virtual HomCoord &	y (float y)
	Setter function for y.
virtual float	z () const
	RO-getter for z.
virtual float &	z ()
	RW-getter for z.
virtual HomCoord &	z (float z)
	Setter function for z.
virtual float	w () const
	RO-getter for w.
virtual float &	w ()
	RW-getter for w.
virtual HomCoord &	w (float w)
	Setter function for w.
virtual HomCoord &	rotate_x (float rad)
	Convenience function to rotate the HomCoord around the x-axis.
virtual HomCoord &	rotate_y (float rad)
	Convenience function to rotate the HomCoord around the y-axis.
virtual HomCoord &	rotate_z (float rad)
	Convenience function to rotate the HomCoord around the z-axis.
HomCoord &	transform (const HomTransform &t)
	Transform the vector with the given transform.
virtual HomCoord	operator- (const HomCoord &h) const
	Subtraction operator.
virtual HomCoord &	operator-= (const HomCoord &h)
	Substraction-assignment operator.
virtual HomCoord	operator+ (const HomCoord &h) const
	Addition operator.
virtual HomCoord &	operator+= (const HomCoord &h)
	Addition-assignment operator.
virtual float	operator* (const HomCoord &h) const
	Calculates the dot product of two coords.
virtual HomCoord	operator* (const float s) const
	Mulitplication operator.
virtual HomCoord &	operator*= (const float s)
	Multiplication-assignment operator.
virtual HomCoord &	operator= (const HomCoord &h)
	Assignment operator.
virtual bool	operator== (const HomCoord &h) const
	Comparison operator.
virtual bool	operator!= (const HomCoord &h) const
	Inequality operator.
Public Member Functions inherited from fawkes::Printable
	Printable ()
	Constructor.
virtual	~Printable ()
	Destructor.

Protected Member Functions
	HomCoord (float x=0.0, float y=0.0, float z=0.0, float w=0.0)
	Constructor.
	HomCoord (const Vector &v)
	Constructor.
virtual std::ostream &	print (std::ostream &stream) const
	Appends the components of the HomCoord to the ostream.

Protected Attributes
Vector *	m_vector
	The internal data container.

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Detailed Description

Base class for homogeneous primitives (vector and point).

Author:

Daniel Beck

Definition at line 34 of file hom_coord.h.

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Constructor & Destructor Documentation

fawkes::HomCoord::HomCoord

(

const HomCoord &

c

)

Copy constructor.

Parameters:

c	another HomCoord

Definition at line 61 of file hom_coord.cpp.

References m_vector.

fawkes::HomCoord::~HomCoord ( )

virtual

Destructor.

Definition at line 76 of file hom_coord.cpp.

References m_vector.

fawkes::HomCoord::HomCoord ( float  x = 0.0, float  y = 0.0, float  z = 0.0, float  w = 0.0  )

protected

Constructor.

Parameters:

x	the x-coordinate
y	the y-coordinate
z	the z-coordinate
w	the w-coordinate

Definition at line 48 of file hom_coord.cpp.

References m_vector, and fawkes::Vector::set().

fawkes::HomCoord::HomCoord ( const Vector &  v )

protected

Constructor.

Parameters:

v

a vector

Definition at line 70 of file hom_coord.cpp.

References m_vector.

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Member Function Documentation

bool fawkes::HomCoord::operator!= ( const HomCoord &  h ) const

virtual

Inequality operator.

Parameters:

h	the other HomCoord

Returns:

true if h is not equal to *this, false otherwise

Definition at line 367 of file hom_coord.cpp.

References m_vector.

float fawkes::HomCoord::operator* ( const HomCoord &  h ) const

virtual

Calculates the dot product of two coords.

Parameters:

h	the rhs HomCoord

Returns:

the scalar product

Definition at line 315 of file hom_coord.cpp.

References x(), y(), and z().

HomCoord fawkes::HomCoord::operator* ( const float  s ) const

virtual

Mulitplication operator.

Multiply the vector with a scalar.

Parameters:

s

a scalar

Returns:

the result of multiplying the vector with the scalar

Definition at line 326 of file hom_coord.cpp.

References w(), x(), y(), and z().

HomCoord & fawkes::HomCoord::operator*= ( const float  s )

virtual

Multiplication-assignment operator.

Multiply the vector with a scalar.

Parameters:

s

a scalar

Returns:

a reference to the modified vector (this)

Definition at line 343 of file hom_coord.cpp.

References x(), y(), and z().

HomCoord fawkes::HomCoord::operator+ ( const HomCoord &  h ) const

virtual

Addition operator.

Parameters:

h	the rhs HomCoord

Returns:

the resulting HomCoord

Definition at line 275 of file hom_coord.cpp.

References m_vector, and w().

HomCoord & fawkes::HomCoord::operator+= ( const HomCoord &  h )

virtual

Addition-assignment operator.

Parameters:

h	the rhs HomCoord

Returns:

reference to the resulting HomCoord

Definition at line 289 of file hom_coord.cpp.

References m_vector, and w().

HomCoord fawkes::HomCoord::operator- ( const HomCoord &  h ) const

virtual

Subtraction operator.

Parameters:

h	the rhs HomCoord

Returns:

the resulting HomCoord

Definition at line 248 of file hom_coord.cpp.

References m_vector, and w().

HomCoord & fawkes::HomCoord::operator-= ( const HomCoord &  h )

virtual

Substraction-assignment operator.

Parameters:

h	the rhs HomCoord

Returns:

reference to the resulting HomCoord

Definition at line 262 of file hom_coord.cpp.

References m_vector, and w().

HomCoord & fawkes::HomCoord::operator= ( const HomCoord &  h )

virtual

Assignment operator.

Parameters:

h	the rhs HomCoord

Returns:

a reference of the lhs vector (this)

Definition at line 303 of file hom_coord.cpp.

References m_vector.

bool fawkes::HomCoord::operator== ( const HomCoord &  h ) const

virtual

Comparison operator.

Parameters:

h	the other HomCoord

Returns:

true if h is equal to *this, false otherwise

Definition at line 357 of file hom_coord.cpp.

References m_vector.

std::ostream & fawkes::HomCoord::print ( std::ostream &  stream ) const

protectedvirtual

Appends the components of the HomCoord to the ostream.

Parameters:

stream

to be extended

Returns:

the extended stream

Implements fawkes::Printable.

Definition at line 377 of file hom_coord.cpp.

References w(), x(), y(), and z().

HomCoord & fawkes::HomCoord::rotate_x ( float  rad )

virtual

Convenience function to rotate the HomCoord around the x-axis.

Parameters:

rad	the roation angle in rad

Returns:

reference to this

Reimplemented in fawkes::HomPose, and fawkes::HomPolar.

Definition at line 206 of file hom_coord.cpp.

References fawkes::HomTransform::rotate_x(), and transform().

HomCoord & fawkes::HomCoord::rotate_y ( float  rad )

virtual

Convenience function to rotate the HomCoord around the y-axis.

Parameters:

rad	the roation angle in rad

Returns:

reference to this

Reimplemented in fawkes::HomPose, and fawkes::HomPolar.

Definition at line 220 of file hom_coord.cpp.

References fawkes::HomTransform::rotate_y(), and transform().

HomCoord & fawkes::HomCoord::rotate_z ( float  rad )

virtual

Convenience function to rotate the HomCoord around the z-axis.

Parameters:

rad	the roation angle in rad

Returns:

reference to this

Reimplemented in fawkes::HomPose, and fawkes::HomPolar.

Definition at line 234 of file hom_coord.cpp.

References fawkes::HomTransform::rotate_z(), and transform().

Referenced by fawkes::HomPose2d::HomPose2d(), WorldModelThread::loop(), and fawkes::HomPose2d::yaw().

HomCoord & fawkes::HomCoord::transform

(

const HomTransform &

t

)

Transform the vector with the given transform.

Parameters:

t	a transform

Returns:

reference to the modified vector (this)

Definition at line 387 of file hom_coord.cpp.

References fawkes::HomTransform::get_matrix().

Referenced by rotate_x(), rotate_y(), rotate_z(), and fawkes::Transformable::transform().

float fawkes::HomCoord::w ( ) const

virtual

RO-getter for w.

Returns:

the value

Definition at line 175 of file hom_coord.cpp.

References fawkes::Vector::get(), and m_vector.

Referenced by fawkes::HomPoint::HomPoint(), fawkes::HomVector::HomVector(), operator*(), operator+(), operator+=(), operator-(), operator-=(), and print().

float & fawkes::HomCoord::w ( )

virtual

RW-getter for w.

Returns:

a reference to the w-element

Definition at line 184 of file hom_coord.cpp.

References fawkes::Vector::get(), and m_vector.

HomCoord & fawkes::HomCoord::w ( float  w )

virtual

Setter function for w.

Parameters:

w	the new w value

Returns:

reference to this

Definition at line 195 of file hom_coord.cpp.

References m_vector, and fawkes::Vector::set().

float fawkes::HomCoord::x ( ) const

virtual

RO-getter for x.

Returns:

the value

Definition at line 85 of file hom_coord.cpp.

References fawkes::Vector::get(), and m_vector.

Referenced by fawkes::HomVector::angle_xy(), fawkes::HomPoint::distance(), fawkes::LineSegmentDrawer::draw(), fawkes::HomPointDrawer::draw(), fawkes::HomVectorDrawer::draw(), fawkes::HomPolar::get_vector(), fawkes::HomPolar::HomPolar(), fawkes::HomPose2d::HomPose2d(), fawkes::HomVector::length_square(), fawkes::Line::Line(), WorldModelThread::loop(), fawkes::HomPoint::move(), fawkes::HomPoint::move_to(), FieldView::on_draw(), operator*(), operator*=(), fawkes::HomPolar::operator+(), fawkes::HomPoint::operator-(), fawkes::HomPolar::operator-(), fawkes::HomPolar::phi(), fawkes::HomPolar::phi_y(), fawkes::HomPolar::phi_z(), fawkes::HomPose::pos(), fawkes::HomPose2d::post_transform(), print(), fawkes::HomPolar::r(), fawkes::HomPolar::rotate_x(), fawkes::HomPolar::rotate_y(), fawkes::HomVector::set_length(), and fawkes::HomPose2d::x().

float & fawkes::HomCoord::x ( )

virtual

RW-getter for x.

Returns:

a reference to the x-element

Definition at line 94 of file hom_coord.cpp.

References fawkes::Vector::get(), and m_vector.

HomCoord & fawkes::HomCoord::x ( float  x )

virtual

Setter function for x.

Parameters:

x	the new x value

Returns:

reference to this

Definition at line 105 of file hom_coord.cpp.

References m_vector, and fawkes::Vector::set().

float fawkes::HomCoord::y ( ) const

virtual

RO-getter for y.

Returns:

the value

Definition at line 115 of file hom_coord.cpp.

References fawkes::Vector::get(), and m_vector.

Referenced by fawkes::HomVector::angle_xy(), fawkes::HomPoint::distance(), fawkes::LineSegmentDrawer::draw(), fawkes::HomPointDrawer::draw(), fawkes::HomVectorDrawer::draw(), fawkes::HomPolar::get_vector(), fawkes::HomPolar::HomPolar(), fawkes::HomPose2d::HomPose2d(), fawkes::HomVector::length_square(), fawkes::Line::Line(), WorldModelThread::loop(), fawkes::HomPoint::move(), fawkes::HomPoint::move_to(), FieldView::on_draw(), operator*(), operator*=(), fawkes::HomPolar::operator+(), fawkes::HomPoint::operator-(), fawkes::HomPolar::operator-(), fawkes::HomPolar::phi(), fawkes::HomPolar::phi_y(), fawkes::HomPolar::phi_z(), fawkes::HomPose::pos(), fawkes::HomPose2d::post_transform(), print(), fawkes::HomPolar::r(), fawkes::HomPolar::rotate_x(), fawkes::HomPolar::rotate_y(), fawkes::HomVector::set_length(), and fawkes::HomPose2d::y().

float & fawkes::HomCoord::y ( )

virtual

RW-getter for y.

Returns:

a reference to the y-element

Definition at line 124 of file hom_coord.cpp.

References fawkes::Vector::get(), and m_vector.

HomCoord & fawkes::HomCoord::y ( float  y )

virtual

Setter function for y.

Parameters:

y	the new y value

Returns:

reference to this

Definition at line 135 of file hom_coord.cpp.

References m_vector, and fawkes::Vector::set().

float fawkes::HomCoord::z ( ) const

virtual

RO-getter for z.

Returns:

the value

Definition at line 145 of file hom_coord.cpp.

References fawkes::Vector::get(), and m_vector.

Referenced by fawkes::HomPoint::distance(), fawkes::HomPolar::get_vector(), fawkes::HomPolar::HomPolar(), fawkes::HomVector::length_square(), fawkes::Line::Line(), fawkes::HomPoint::move(), fawkes::HomPoint::move_to(), operator*(), operator*=(), fawkes::HomPolar::operator+(), fawkes::HomPoint::operator-(), fawkes::HomPolar::operator-(), fawkes::HomPolar::phi(), fawkes::HomPolar::phi_y(), fawkes::HomPolar::phi_z(), fawkes::HomPose::pos(), print(), fawkes::HomPolar::r(), fawkes::HomPolar::rotate_x(), fawkes::HomPolar::rotate_y(), and fawkes::HomVector::set_length().

float & fawkes::HomCoord::z ( )

virtual

RW-getter for z.

Returns:

a reference to the z-element

Definition at line 154 of file hom_coord.cpp.

References fawkes::Vector::get(), and m_vector.

HomCoord & fawkes::HomCoord::z ( float  z )

virtual

Setter function for z.

Parameters:

z	the new z value

Returns:

reference to this

Definition at line 165 of file hom_coord.cpp.

References m_vector, and fawkes::Vector::set().

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Member Data Documentation

fawkes::HomCoord::m_vector

protected

The internal data container.

Definition at line 85 of file hom_coord.h.

Referenced by HomCoord(), operator!=(), operator+(), operator+=(), operator-(), operator-=(), operator=(), operator==(), w(), x(), y(), z(), and ~HomCoord().

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The documentation for this class was generated from the following files:

• src/libs/geometry/hom_coord.h
• src/libs/geometry/hom_coord.cpp